PLANAR MECHANISMS KINEMATICS? SO EASY!

1. STRICTLY NECESSARY NOTIONS ABOUT MECHANISMS

STRUCTURE

A mechanism is made up of parts called links connected together by

kinematic pairs and move relative to a fixed element called base. An element has 6
motions in space (3 rotations and 3 translations relative to a fixed reference frame),
shown in Fig. 1 a). If this 6 motions are missing, the element is the base shown in
Fig. 1. b). Fig. 1. c) shows two links connected in such a way that one can only turn
or revolve about a fixed axis of another link, that is, it lost 5 of the six motions,
canceled by this coupling, so called a fifth-order revolute pair, symbolized with R. If
element 1 becomes a base, the pair symbolizing is shown in Fig. 1. d). If a kinematic
element executes only one translation on the other, then the pair is called prismatic
(Fig.1. e)), symbolized with P, also called slider. In planar mechanisms it also has
the symbol shown in Fig. 1. f). In planar mechanisms there is also the pair shown in
Fig. 1. g), known as the IV-th class higher pair, used for gears and cams, but it is not
the subject of this paper.

a) b) c) d)

e) f) g)

Fig. 1. Links and kinematic pairs

A combination of kinematic elements, links and pairs form a kinematic chain.

Fig. 2. a) shows the chain of links 1, 2 , 3, and Fig. 2. b) shows the same chain
when the length of the link 3 is zero.
 a) b)

Fig. 2. Kinematic chains

The degree of mobility of a kinematic chain or mechanism is given by the

formula: M = 3n-2C5-C4, where n is the number of mobile elements, C5 is the
number of fifth class kinematic pairs and C4 is the number of fourth class IV
kinematic pairs. The degree of mobility of a kinematic chain or mechanism
represents the number of motions to be received from the outside so the chain or
mechanism motion may be determined.
A Russian researcher, Assur had a brilliant idea: he found kinematic chains
with a zero degree of mobility, called kinematic or Assur groups. These groups are
determined with the formula M = 3n-2C5 = 0, and the results are given in Table 1.

Table 1. Assur groups

n 2 4 6 8 10 .....
C5 3 6 9 12 15 .....

The most common groups are formed by n = 2 and C5 = 3, called dyads,

shown in Fig. 3. They are symbolized with the symbols of the three component pairs.
Indeed, it is noted that the position of the inner pair may be determined if the
positions of the extreme pairs are known.

RRR RRP RPR PRP RPP

Fig. 3. Dyads

In Fig. 4 there are shown particular cases of dyads: a) RPR-dyad with one
zero length element; b) PRP-dyad with two zero length elements; c) RPP-dyad with
one zero length element.
 a) b) c)
Fig. 4. Particular cases for dyads

In Table 1 other Assur groups may be considered, such as those shown in

Fig. 5: a) - with n = 4 and C5 = 6, called triad of order 3 with the maximum closed
contour by 3 pairs and 3 free pairs at the ends receiving outer motions; b) - with n =
6 and C5 = 9, that is, a triad of order 4, meaning it has four free pairs receiving outer
motions.

Fig. 5 Particular cases for triads

In the cases shown in Fig. 5 some of the revolute pairs may be replaced by
prismatic pairs.

2. KINEMATICS OF DRIVING LINKS AND LINK IN PLANAR MOTION

Remarks
For a simplified writing, the following notations are made, taking into account
that the software used below supports only simplified writing:

𝑋𝐵 = 𝑋𝐵; 𝑌𝐵 = 𝑌𝐵
𝑋𝐵̇ = 𝑋𝐵 ′ ; 𝑌𝐵̇ = 𝑌𝐵 ′
𝑋𝐵̈ = 𝑋𝐵 ′′ ; 𝑌𝐵̈ = 𝑌𝐵 ′′
etc.
In mathematical expressions there are also used the notations  ,  ’ =  and
 ’’=  , and in the diagrams there are used notations as Fi, Fi' and Fi''.

Kinematics of driving link in rotation

The driving link shown in Fig. 1 has the position given by the angle  ,
measured for counterclockwise rotation with respect to the positive x-axis, the
angular velocity being positive for counterclockwise rotation and negative for
clockwise rotation (shown in the picture), and the angular acceleration  ’’ is positive
for counterclockwise rotation (shown in the picture) and negative for clockwise
rotation. The velocity of point B is a vector perpendicular to AB, oriented like  ’,
which can be broken down into Cartesian components XB' and YB'. The acceleration
of point B has a certain direction (calculated) and breaks down by the axle system
into Cartesian components XB '' and YB''.

Fig. 1 Driving link in rotation

Using the grapho-analytical method the driving element is studied in each

position, knowing the  ’ and  ’’ values. Using the analytical method, the value of  ’’
is known from the dynamic analysis given by an equation as a function of time, the
most convenient form being the polynomial one, so that the equations for velocity,
v(t), and for displacement, x(t) are computed as follows:

Below, a constant speed is considered, i.e.  ’ = constant, so  ’’ = 0

for driving link in rotation, respectively S' = constant and S '' = 0 for driving link in
translation. But the points on the mechanism will have non-zero acceleration as well
as the mechanism links in planar motion, that will have non-zero angular
acceleration, too.
The following expressions are written in order to determine point B position:
𝑋𝐵 = 𝐴𝐵𝑐𝑜𝑠𝜑; 𝑌𝐵 = 𝐴𝐵𝑠𝑖𝑛𝜑
The angle  changes with respect to time, so the expressions written for the
positions are differentiated with respect to time in order to compute the velocities.
Only the driving link rotates, so the following expressions may be written:

𝑋𝐵 ′ = −𝐴𝐵𝑠𝑖𝑛𝜑 ∙ 𝜑′
𝑌𝐵 ′ = 𝐴𝐵𝑐𝑜𝑠𝜑 ∙ 𝜑′
 The accelerations are obtained by a new differentiation with respect to time:

𝑋𝐵 ′′ = −𝐴𝐵𝑐𝑜𝑠𝜑 ∙ 𝜑 ′2 − 𝐴𝐵 sinφ ∙ 𝜑′′

𝑌𝐵 ′′ = −𝐴𝐵𝑠𝑖𝑛𝜑 ∙ 𝜑 ′2 + 𝐴𝐵 cosφ ∙ 𝜑′′

For example, the considered values were: AB = 40 mm;  ’= - 2 rad / s;  ’’ =

0 rad / s / s.
Fig. 2 shows the scaled link AB and the components of point B velocity for a
position, the numerical results being indicated in the picture.

Fig. 2 The components of point B velocity

The components of point B acceleration are shown in Fig. 3.

Fig. 3. The components of point B acceleration

Here the acceleration of point B is not zero although  ’’=0, since  ’’ only
occurs in the tangential component of the point B acceleration; the normal
component will be different from zero because it is equal to  ’2  AB.
For a complete rotation of the driving link, there are obtained the velocities
components shown in Fig. 4, and the accelerations components shown in Fig. 5 for a
 angular step equal to 20.
 Fig. 4. The velocities for a complete rotation

Fig. 5 The accelerations for a complete rotation

The obtained values may be tabulated or traced in the form of curves on

diagrams. Fig. 6 shows the curves for XB and YB, with a step of one degree for
angle  . It was used Easy Plot software, created in the US by Stuart Karon in 1986,
free on Internet.
 40.

20.

0.0 X B [mm]
Y B [mm]

-20.

-40.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 6. The coordinates of the point B

By comparing this diagram with the one shown in fig. 1 it may be seen that
starting from the x-axis, point B rotates to the left, so the value of XB decreases and
YB increases, then YB decreases, and XB decreases until it pass y-axis when both
values become negative; in Fig. 6 it is shown the further evolution of XB and YB.
This is how the kinematic diagrams are read.
100.

50.

0.0 X B' [mm/s]

Y B' [mm/s]

-50.

-100.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 7. The components of the point B velocity
 In Fig. 7 it is shown the variation of the velocity components of B, and in Fig. 8
the variation of the components of point B acceleration.

200.

100.

0.0 X B' ' [mm/s/s]

Y B' ' [mm/s/s]

-100.

-200.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 8. The components of the point B acceleration

If the direction of the angular velocity is changed to  ’= 2 mm/s, then Fig. 9 and 10
are obtained, and they are different from the ones in the previous case.

Fig. 9. The components of the point B velocity

 The accelerations are shown also by Fig. 5, because in the computation of the
normal acceleration occurs  ’2, so the sign has no influence here.

Driving link in translational motion

This element is shown in Fig. 10. His position is given by the stroke S, so it
follows:

Fig. 10. Kinematic element in translational motion

The following expressions may be written:

𝑋𝐴 = 𝑆; 𝑌𝐴 = 0
𝑋𝐴′ = 𝑆 ′ ; 𝑌𝐴′ = 0
𝑋𝐴′′ = 𝑆 ′′ ; 𝑌𝐴′′ = 0

where S' is the velocity and S'' is the acceleration in the translational motion. In this
case, the velocities of the link points are equal, and their accelerations are equal too.

Link in planar motion

In this case (Fig. 11) the link CBE has known lengths BC and BE and the
angles  and  , as well as  ’ and  ’’ are known too. There are written the
expression for positions, which then are differentiated twice with respect to time.

Fig. 11. Link in planar motion

𝑋𝐶 = 𝑋𝐵 + 𝐵𝐶𝑐𝑜𝑠𝛼
𝑌𝐶 = 𝑌𝐵 + 𝐵𝐶𝑠𝑖𝑛𝛼
𝑋𝐸 = 𝑋𝐵 + 𝐵𝐸𝑐𝑜𝑠(𝛼 + 𝛿)
𝑌𝐸 = 𝑌𝐵 + 𝐵𝐸𝑠𝑖𝑛(𝛼 + 𝛿)
𝑋𝐶 ′ = 𝑋𝐵′ − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼′
 𝑌𝐶 ′ = 𝑌𝐵 ′ + 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼′
𝑋𝐸′ = 𝑋𝐵′ − 𝐵𝐸𝑠𝑖𝑛(𝛼 + 𝛿) ∙ 𝛼′
𝑌𝐸 ′ = 𝑌𝐵 ′ + 𝐵𝐸𝑐𝑜𝑠(𝛼 + 𝛿) ∙ 𝛼′
2
𝑋𝐶 ′′ = 𝑋𝐵 ′′ − 𝐵𝐶 𝑐𝑜𝑠𝛼 ∙ 𝛼 ′ − 𝐵𝐶 𝑠𝑖𝑛𝛼 ∙ 𝛼′′
2
𝑌𝐶 ′′ = 𝑌𝐵 ′′ − 𝐵𝐶 𝑠𝑖𝑛𝛼 ∙ 𝛼 ′ + 𝐵𝐶 𝑐𝑜𝑠𝛼 ∙ 𝛼′′
2
𝑋𝐸 ′′ = 𝑋𝐵 ′′ − 𝐵𝐸 cos(𝛼 + 𝛿) ∙ 𝛼 ′ − 𝐵𝐸 sin(𝛼 + 𝛿) ∙ 𝛼′′
2
𝑌𝐸 ′′ = 𝑌𝐵 ′′ − 𝐵𝐸𝑠𝑖 𝑛(𝛼 + 𝛿) ∙ 𝛼 ′ + 𝐵𝐸 𝑐𝑜𝑠(𝛼 + 𝛿) ∙ 𝛼′′

3. KINEMATICS OF THE SLIDER-CRANK MECHANISM

Version 1: The crank - piston mechanism

This version has as driving link the crank AB and the slider C with zero length
as the last driven kinematic element. In a car engine, the crank is the crankshaft and
the slider is the piston. This version corresponds to the start of the engine, using the
crank or the starter, then the explosion occurs in the combustion chamber and the
piston becomes the leading element, the case being analyzed below in version 2.
The slider crank mechanism is shown in Fig. 1, being formed by the driving
link AB and the RRP dyad, BC. The link BCE is the connecting rod in planar motion.
For kinematics computations, there are applied the above expressions for driving link
in rotation and for link in planar motion. The method of contour equations is used,
i.e. it is considered a vector contour ABC which is projected on the axes of the
reference frame.

Fig. 1. The slider crank mechanism

In the analyzed case it may be written:

⃗⃗⃗⃗⃗ = 𝐴𝐵
𝐴𝐶 ⃗⃗⃗⃗⃗ + 𝐵𝐶
⃗⃗⃗⃗⃗
By projecting on Cartesian axes there are obtained the following expressions:
𝑋𝐶 = 𝑋𝐵 + 𝐵𝐶𝑐𝑜𝑠𝛼
 𝑌𝐶 = 𝑌𝐵 + 𝐵𝐶𝑠𝑖𝑛𝛼=0
The second expression being equal to zero, it allows the calculation of sin  ,
so it results immediately:
𝑌𝐶 − 𝑌𝐵 2
𝑐𝑜𝑠𝛼 = ±√1 − ( )
𝐵𝐶
The angle  and XC were also determined, so it was obtained the kinematics
of the link in planar motion shown above.
It may be noticed that in the expression of cos  the sign (  ) appears before
the radical, therefore there are two solutions and as consequence two positions of
the mechanism. In Fig 1, the second position corresponding to the sign (-) was also
plotted using interrupted line.
In Fig. 2 it is shown a position of the mechanism for the sign (+). Input data:  = 62,
AB = 35 mm, BC = 55 mm, BE = 32 mm,  = 48.

Fig. 2. The mechanism position for the sign (+)

Fig. 3. The mechanism position for the sign (-)

For a complete rotation of the driving link (0 ... 360) the successive
positions of the mechanism are shown in Fig. 4 for the sign (+) and in Fig. 5 for the
sign (-).

Fig. 4. Successive positions for the sign (+)

 Fig. 5. Successive positions for the sign (-)

The trajectory of point E is shown in Fig. 6 for the sign (+) and in Fig. 7 for the
sign (-).

Fig. 6. The trajectory of point E for the sign (+)

Fig. 7. The trajectory of point E for (-) sign

It is noted that for the sign (-), both successive positions and trajectory result
as well as for the sign (+), but they are positioned differently. Next, only the (+) sign
will be considered.
The variations of the point E coordinates are shown in Fig. 8, the variations of
the point E velocity components in Fig. 9, and the variations of the point E
acceleration components in Fig. 10. There were used the expressions obtained by
twice differentiating with respect to time the relations expressing the point E
positions, the same as those from the kinematics of the link in planar motion. It was
considered that YC'= 0, YC''= 0, so angular velocity and angular acceleration were
computed as follows:

−𝑌𝐵′
𝛼′ =
𝐵𝐶𝑐𝑜𝑠𝛼

′′
−𝑌𝐵′′ + 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′2
𝛼 =
𝐵𝐶𝑐𝑜𝑠𝛼
 There were considered as input data:  ’= 2 rad / s and  ’’=0. There were
obtained the diagrams shown below.
60.

40.

20. X E [mm]
Y E [mm]

0.0

-20.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 8. The variations of XE and YE

100.

50.

0.0 X E' [mm/s]

Y E' [mm/s]

-50.

-100.
0.0 100. 200. 300. 400.
Fi [deg]

Fig. 9. The variation of the components of point E velocity

 200.

100.

0.0 X E' ' [mm/s/s/]

Y E' ' [mm/s/s]

-100.

-200.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 10. The variation of the components of point E acceleration

Some trajectories obtained by changing the angle  are shown in the pictures
below (Fig. 11 ... 19).

Fig. 11. (  =0)

Fig. 12 (  =45)
Fig. 13 (  =90)

Fig. 14 (  =120)

Fig. 15 (  =180)
 Fig. 16. (  =220)

Fig. 17 (  =270)

Fig. 18 (  =300)

Fig. 19 (  =330)

Further, the motion of the piston C was determined: XC (Fig. 20), XC' (Fig. 21)
and XC’’ (Fig. 22).
 100.

80.
[m m ]

60.
X C

40.

20.
0.0 100. 200. 300. 400.
Fi [deg]

Fig. 20. The piston stroke

100.

50.
X C ' [ m m /s]

0.0

-50.

-100.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 21. The piston velocity
 200.

100.
Y C ' ' [ m m /s/s]

0.0

-100.

-200.

-300.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 22. The piston acceleration

The curves for the angular velocity of the connecting rod,  ’, and for the
angular acceleration  ’’ are shown in Fig. 23.

4.

2.

0.0 Alfa' [rad/s]

Alfa' ' [rad/s/s]

-2.

-4.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 23. Connecting rod angular velocity and acceleration
Version 2: piston - crank mechanism

This mechanism is shown in Fig. 24, having as actuator the piston B and a RRR-type
dyad BCD. It is known the motion of the piston and the motion of point D (fixed
point), therefore the dyad is determined and its kinematics are computed. Since this
dyad will also appear in other mechanisms, its kinematics are detailed here (Fig. 25)

Fig. 24. The piston-crank mechanism

Fig. 25. The RRR dyad

There are written the expressions for the positions of the mechanism and the
resulted nonlinear algebraic system is solved, and so  ,  , XC, YC are determined.

𝑋𝐶 = 𝑋𝐵 + 𝐵𝐶𝑐𝑜𝑠𝛼 = 𝑋𝐷 + 𝐶𝐷𝑐𝑜𝑠𝛽
𝑌𝐶 = 𝑌𝐵 + 𝐵𝐶𝑠𝑖𝑛𝛼 = 𝑌𝐷 + 𝐶𝐷𝑠𝑖𝑛𝛽

The following input data were taken into account: BC = 80 mm, CD =

50, BE = 25, XD = 62, = 27 degrees, XB '= 2 mm / s, XB' '= 0. FIG. 26 shows the
successive positions of the mechanism. In the considered example, the established
lengths do not allow the complete rotation of the element, the race being also limited
from -60 to +30 mm.

Fig. 26 Mechanism successive positions

 Fig. 27 shows the trajectory of point E.

Fig. 27 The trajectory of point E

Then the expressions are differentiated twice with respect to time resulting the
following equations, used to compute the linear and angular velocities and
accelerations.

𝑋𝐶 = 𝑋𝐵 + 𝐵𝐶𝑐𝑜𝑠𝛼 = 𝑋𝐷 + 𝐶𝐷𝑐𝑜𝑠𝛽
𝑌𝐶 = 𝑌𝐵 + 𝐵𝐶𝑠𝑖𝑛𝛼 = 𝑌𝐷 + 𝐶𝐷𝑠𝑖𝑛𝛽

𝑋𝐶 ′ = 𝑋𝐵 ′ − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′ = 𝑋𝐷′ − 𝐶𝐷𝑠𝑖𝑛𝛽 ∙ 𝛽′

𝑌𝐶′ = 𝑌𝐵′ + 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼′ = 𝑌𝐷′ + 𝐶𝐷𝑐𝑜𝑠𝛽 ∙ 𝛽′
2 2
𝑋𝐶 ′′ = 𝑋𝐵′′ − 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼 ′ − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′′ = 𝑋𝐷′′ − 𝐶𝐷𝑐𝑜𝑠𝛽 ∙ 𝛽 ′ − 𝐶𝐷𝑠𝑖𝑛𝛽 ∙ 𝛽′′
2 2
𝑌𝐶 ′′ = 𝑌𝐵′′ − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′ + 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼 ′′ = 𝑌𝐷′′ − 𝐶𝐷𝑠𝑖𝑛𝛽 ∙ 𝛽 ′ + 𝐶𝐷𝑐𝑜𝑠𝛽 ∙ 𝛽′′

′
𝑋𝐵′ − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′ − 𝑋𝐷′
𝛽 =
−𝐶𝐷𝑠𝑖𝑛𝛽

′
−𝑐𝑡𝑔𝛽(𝑋𝐵′ − 𝑋𝐷′ ) − 𝑌𝐵 ′ + 𝑌𝐷′
𝛼 =
𝐵𝐶𝑐𝑜𝑠𝛼 − 𝑡𝑔𝛽 ∙ 𝑠𝑖𝑛𝛼 ∙ 𝐵𝐶
2
𝑎1 = 𝑋𝐵"-BC∙cosα∙α'2 ; a2 =XD" − 𝐶𝐷𝑐𝑜𝑠𝛽 ∙ 𝛽 ′ ;
2
𝑎3 = 𝑌𝐵"-BC∙sinα∙α'2 ; a4 =YD" − 𝐶𝐷𝑠𝑖𝑛𝛽 ∙ 𝛽 ′
𝑋𝐶 ′′ = 𝑎1 − 𝐵𝐶𝑠𝑖𝑛𝛼 ∙ 𝛼 ′′ = 𝑎2 − 𝐶𝐷𝑠𝑖𝑛𝛽 ∙ 𝛽′′
𝑌𝐶 ′′ = 𝑎3 + 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼 ′′ = 𝑎4 + 𝐶𝐷𝑐𝑜𝑠𝛽 ∙ 𝛽′′

𝑎3 + 𝐵𝐶𝑐𝑜𝑠𝛼 ∙ 𝛼 ′′ − 𝑎4
𝛽" =
𝐶𝐷𝑐𝑜𝑠𝛽

𝑎2 − 𝑡𝑔𝛽(𝑎3 − 𝑎4 ) − 𝑎1
𝛼" =
−𝐵𝐶𝑠𝑖𝑛𝛼 + 𝑡𝑔𝛽 ∙ 𝑐𝑜𝑠𝛼 ∙ 𝐵𝐶

For the kinematics of point E there are used the above relations written
for the link undergoing planar motion.
The coordinates of point E are shown in Fig. 28, the components of the point
E velocity are shown in Fig. 29, and the components of the point E acceleration are
shown in Fig. 30.
60.

40.

20.

0.0 X E [mm]
Y E [mm]

-20.

-40.

-60.
-60. -40. -20. 0.0 20. 40.
X B [mm]
Fig. 28. The coordinates of the point E

6.

4.

2. X E' [mm/s]
Y E' [mm/s]

0.0

-2.
-60. -40. -20. 0.0 20. 40.
X B [mm]
Fig. 29. The components of the point E velocity
 0.0

-0.2

X E' ' [mm/s/s]

Y E' ' [mm/s/s]

-0.4

-0.6
-60. -40. -20. 0.0 20. 40.
X B [mm]
Fig. 30. The components of the point E acceleration

The angular velocities and accelerations of the links BC and CD were also
computed and their variations are shown in Fig. 31 and 32.
0.2

0.1

0.0
Alfa' [rad/s]
Alfa' ' [rad/s/s]
-0.1

-0.2

-0.3
-60. -40. -20. 0.0 20. 40.
X B [mm]
Fig. 31. The angular speeds and accelerations of the link BC
 0.2

0.1

0.0 Beta' [rad/s]

Beta' ' [rad/s/s]

-0.1

-0.2
-60. -40. -20. 0.0 20. 40.
X C [mm]
Fig. 32. The angular speeds and accelerations of the link CD
*
There are differences between the results of the two versions. The reason is
that in the first version the driving element is the link AB, with a linear variation of
angle  , resulting a non-linear variation of coordinate XC. In the second version, the
driving element is the slider B with a linear variation of coordinate XB, and the driven
element is the link CD with a non-linear variation of the angle  , so the input law for
the second version is not the exit law of the first version.
 4. KINEMATICS OF THE FOUR - BAR MECHANISM

The four-bar mechanism is shown in FIG. 1. It is made up of the driving link

AB and the RRR dyad BDC. For the kinematic calculation of this mechanism, there
are used the relations given above, starting with: driving link undergoing rotation,
RRR dyad, link undergoing planar motion.

Fig. 1. The four-bar mechanism

The input data were the followings: AB = 40 mm: BC = 50: CD = 60: XD = 65:
BE = 50: = 60: 2 rad / s:
The mechanism is shown in FIG. 2, its positions in FIG. 3, and the trajectory
of point E in FIG. 4.

Fig. 2. The mechanism for  =50

 Fig. 3. The mechanism successive positions

Fig. 4. The trajectory of E point

The trajectories of point E for different values of angle  are shown in Fig.
5.....13.

Fig. 5. (  =0)
Fig. 6. (  =90)

Fig. 7. (  =120)
Fig. 8. (  =180)

Fig. 9. (  =220)

Fig. 10. (  =270)

 Fig. 11. (  =300)

Fig. 12. (  =330)

Fig. 13. (  =350)

It may be noticed how the trajectory (called the coupler curve) is

positioned and how it evolves to a circular arc for  =0.
Then it returns to  = 50 = constant and it is determined the variation of the
point E coordinates (Fig. 14).
 100.

50.

X E [mm]
Y E [mm]

0.0

-50.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 14. The variation of the coordinates of point E

The velocities and accelerations are computed with the expressions given
forward for the driving link undergoing rotation, the RRR dyad and the link
undergoing planar motion. The variation of the components of point E velocity is
shown in Fig. 15.
3000.

2000.

1000.
X E' [mm/s]
Y E' [mm/s]
0.0

-1000.

-2000.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 15. Components of point E velocity
Very large values of accelerations were obtained when  > 180 for these
mechanism dimensions; this is the reason why the components of the point E
acceleration were shown in Fig. 16 and Fig.17.
300.

200.

100.

0.0 X E' ' [mm/s/s]

Y E' ' [mm/s/s]

-100.

-200.

-300.
0.0 50. 100. 150. 200.
Fi [deg]
Fig. 16. Components of point E acceleration for  = 0…180.

4.E+6

3.E+6

2.E+6
X E' ' [mm/s/s]
Y E' ' [mm/s/s]
1.E+6

0.0

-1.E+6
150. 200. 250. 300. 350. 400.
Fi [deg]
Fig. 17. Components of point E acceleration for  >180.
 5. KINEMATICS OF THE OSCILLATING CRANK LEVER
MECHANISM
The oscillating crank lever mechanism is shown in Fig. 1. For the kinematic
calculation, the relations for the driving link in rotational motion and the relations of
the kinematics of the plane-moving element are used. Next, there are written the
relations for the link BC in order to compute S and  . These expressions are
differentiated twice with respect to time and there are determined S’, S’’ and  ’,  ’’.

Fig. 1. Oscillating crank lever mechanism

(𝑋𝐵 − 𝑋𝐶)2 + (𝑌𝐵 − 𝑌𝐶)2 = 𝑆 2

𝑌𝐵−𝑌𝐶 𝑋𝐵−𝑋𝐶
sin ∝ = 𝑆 ; cos ∝ = 𝑆
2(𝑋𝐵 − 𝑋𝐶)(𝑋𝐵 ′ − 𝑋𝐶 ′ ) + 2(𝑌𝐵 − 𝑌𝐶)(𝑌𝐵 ′ − 𝑌𝐶 ′ ) = 2𝑆 ∙ 𝑆 ′
(𝑋𝐵 − 𝑋𝐶) ∙ 𝑋𝐵 ′ + (𝑌𝐵 − 𝑌𝐶) ∙ 𝑌𝐵′
𝑆′ =
𝑆
(𝑋𝐵 ′ − 𝑋𝐶 ′ )2 + (𝑋𝐵 − 𝑋𝐶)(𝑋𝐵-XC) + (𝑌𝐵 ′ − 𝑌𝐶 ′ )2 + (𝑌𝐵 − 𝑌𝐶)(𝑌𝐵-YC) = 𝑆 ′ 2 + 𝑆 ∙ 𝑆"
𝑋𝐵′2 + 𝑋𝐵"(XB-XC)+2YB'2 +YB"(𝑌𝐵 − 𝑌𝐶) − 𝑆′2
𝑆" =
𝑆
𝑆 sin ∝ = 𝑌𝐵 − 𝑌𝐶
𝑆 ′ sin ∝ + 𝑆 𝑐𝑜𝑠 ∝ ∙ ∝ ′ = 𝑌𝐵 ′ − 𝑌𝐶 ′
𝑆" sin∝-2S' cos∝∙∝'-S sin ∝∙∝'2 +S cos∝∙∝" = 𝑌𝐵"-𝑌𝐶"

The input data was adopted as follows: XA = 60; AB = 55; BE = 45;  =

60°;  ’=2 rad / s;  ’’=0.
For  = 50°, the mechanism is shown in Fig. 2. Fig. 3 shows the successive
positions of the mechanism, and Fig. 4 shows the trajectory of point E for  =60.
 Fig. 2 One of the mechanism positions

Fig. 3. Mechanism successive positions

Fig. 4. The trajectory of point E for  =50

Other trajectories (the coupler curve shown in Fig. 5 ... 12) have been drawn,
too.
 Fig. 5. (  =0)

Fig. 6. (  =90)

Fig. 7. (  =120)

Fig. 8. (  =180)
Fig. 9. (  =220)

Fig. 10. (  =270)

Fig. 11. (  =300)

Fig. 12. (  =350)

 Next, the variations of the point E coordinates were determined, as shown in
Fig. 13.
150.

100.

50. X E [mm]
Y E [mm]

0.0

-50.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 13. The variation of the coordinates of point E

Fig. 14 gives the curves for XE 'and YE' variations.

1000.

500.

0.0 X E' [mm/s]

Y E' [mm/s]

-500.

-1000.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 14. The variation curves for XE’ and YE’
 Fig. 15 shows the variations of the acceleration components, with very high
values in the area  = 180 degrees.

1.E+4

5000.

0.0
Y E' ' [mm/s/s]
Y E' ' [mm/s/s]
-5000.

-1.E+4

-1.5E+4
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 15. The variation curves for XE’’ and YE’’

The diagrams for the variation of  ’ and  ’’ were drawn as shown in Fig. 16.
300.

200.

100.

0.0 Alfa' [rad/s]

Alfa' ' [rad/s/s]

-100.

-200.

-300.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 16 Angular velocities and accelerations
 KINEMATICS OF THE MECHANISM R-PRP

The R-PRP mechanism (Fig. 1) consists of the driving element BC in rotation,

the PRP dyad, with the two zero-length elements, and the slider guide AC which is
fixed. Here, point C will move on the straight line AC, and if a point E is taken on a
bar welded with the slider, it will also move on a line (parallel to the line AC),
therefore the point E is not analyzed.

Fig. 1. The R-PRP mechanism

There are written the expressions for positions determination; these

expressions are differentiated twice with respect to time, obtaining the following
expressions:

𝑋𝐶 = 𝑆1 𝑐𝑜𝑠𝜑 = 𝑋𝐴 + 𝑆2 𝑐𝑜𝑠𝛽
𝑌𝐶 = 𝑆1 𝑠𝑖𝑛𝜑 = 𝑆2 𝑠𝑖𝑛𝛽
𝑆2 𝑠𝑖𝑛𝛽
𝑡𝑔𝜑 =
𝑋𝐴 + 𝑆2 𝑐𝑜𝑠𝛽
−𝑋𝐴𝑡𝑔𝜑
𝑆2 =
cos 𝛽𝑡𝑔𝜑 − 𝑠𝑖𝑛𝛽
XC′ = 𝑆1′ 𝑐𝑜𝑠𝜑 − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 = 𝑆2′ 𝑐𝑜𝑠𝛽 − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′
YC′ = 𝑆1′ 𝑠𝑖𝑛𝜑 + 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ = 𝑆2′ 𝑠𝑖𝑛𝛽 + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′
𝑆2′ 𝑠𝑖𝑛𝛽 − 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽′
𝑡𝑔 𝜑 = ′
𝑆2 𝑐𝑜𝑠𝛽 + 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽′
−𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝑡𝑔𝜑 ∙ 𝜑 ′ + 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′ ∙ 𝑡𝑔𝜑 + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽′
′
𝑆2′ =
𝑐𝑜𝑠𝛽 ∙ 𝑡𝑔𝜑 − 𝑠𝑖𝑛𝛽

𝑋𝐶" = 𝑆1" 𝑐𝑜𝑠𝜑 + 𝑎1 = 𝑆2" 𝑐𝑜𝑠𝛽

𝑌𝐶" = 𝑆1" 𝑠𝑖𝑛𝜑 + 𝑎2 = 𝑆2" 𝑠𝑖𝑛𝛽
 𝑆1" 𝑠𝑖𝑛𝜑 + 𝑎2
𝑡𝑔𝛽 =
𝑆1" 𝑐𝑜𝑠𝜑 + 𝑎1
−𝑎1 𝑡𝑔𝛽 + 𝑎2
𝑆1" =
𝑐𝑜𝑠𝜑𝑡𝑔𝛽 − 𝑠𝑖𝑛𝜑
"
𝑋𝐶 "
𝑆2 =
𝑐𝑜𝑠𝛽
𝑋𝐶 = 𝑆1 𝑐𝑜𝑠𝜑 = 𝑋𝐴 + 𝑆2 𝑐𝑜𝑠𝛽
𝑌𝐶 = 𝑆1 𝑠𝑖𝑛𝜑 = 𝑆2 𝑠𝑖𝑛𝛽
𝑆2 𝑠𝑖𝑛𝛽
𝑡𝑔𝜑 =
𝑋𝐴 + 𝑆2 𝑐𝑜𝑠𝛽
−𝑋𝐴𝑡𝑔𝜑
𝑆2 =
𝑐𝑜𝑠𝛽𝑡𝑔𝜑 − 𝑠𝑖𝑛𝛽
𝑋𝐶 = 𝑆1 𝑐𝑜𝑠𝜑 − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ = 𝑆2′ 𝑐𝑜𝑠𝛽 − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′
′ ′

𝑌𝐶 ′ = 𝑆1′ 𝑠𝑖𝑛𝜑 − 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ = 𝑆2′ 𝑠𝑖𝑛𝛽 − 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′

𝑆2′ 𝑠𝑖𝑛𝛽 − 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′
𝑡𝑔𝜑 = ′
𝑆2 𝑐𝑜𝑠𝛽 − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′
′
−𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝑡𝑔𝜑 ∙ 𝜑 ′ + 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′ ∙ 𝑡𝑔𝜑 + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′
′
𝑆2 =
𝑐𝑜𝑠𝛽𝑡𝑔𝜑 − 𝑠𝑖𝑛𝛽
′
𝑆2 𝑐𝑜𝑠𝛽 + 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′
𝑆1′ =
𝑐𝑜𝑠𝜑
" ′ 2
𝑋𝐶" = 𝑆1 𝑐𝑜𝑠𝜑 − 2𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 − 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑" =
′
2
= 𝑆2" 𝑐𝑜𝑠𝛽 − 2𝑆2′ 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′ − 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′ − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 "
2
𝑌𝐶" = 𝑆1" 𝑠𝑖𝑛 + 2𝑆1′ 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ + 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑" = 𝑆2" 𝑠𝑖𝑛𝛽 + 𝑎3
2 2
𝑎1 = −2𝑆1′ 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ − 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑" + 2𝑆2′ 𝑠𝑖𝑛𝛽 ∙ 𝛽′ + 𝑆1 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′ + 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽"
2
𝑎2 = 2𝑆1′ 𝑐𝑜𝑠𝜑 ∙ 𝜑 ′ − 𝑆1 𝑠𝑖𝑛𝜑 ∙ 𝜑 ′ + 𝑆1 𝑐𝑜𝑠𝜑 ∙ 𝜑" − 𝑎3
2
𝑎3 = 2𝑆2′ 𝑐𝑜𝑠𝛽 ∙ 𝛽 ′ − 𝑆2 𝑠𝑖𝑛𝛽 ∙ 𝛽 ′ + 𝑆2 𝑐𝑜𝑠𝛽 ∙ 𝛽"
𝑋𝐶" = 𝑆1" 𝑐𝑜𝑠𝜑 + 𝑎1 = 𝑆2" 𝑐𝑜𝑠𝛽
𝑌𝐶" = 𝑆1" 𝑠𝑖𝑛𝜑 + 𝑎2 = 𝑆2" 𝑠𝑖𝑛𝛽
𝑆1" 𝑠𝑖𝑛𝜑 + 𝑎2
𝑡𝑔𝛽 = "
𝑆1 𝑐𝑜𝑠𝜑 + 𝑎1
−𝑎 1 𝑡𝑔𝛽 + 𝑎2
𝑆1" =
𝑐𝑜𝑠𝜑𝑡𝑔𝛽 − 𝑠𝑖𝑛𝜑
𝑋𝐶 "
𝑆2" =
𝑐𝑜𝑠𝛽

The input data: XA = 80 mm,  = 120,  '= 2 rad / s,  ''= 0. With  =

constant, that is, the AC element is fixed, it results  ’ = 0 and  '' = 0. The above
expressions are written for the most general case used for the R-PPR mechanism in
the next chapter.
The mechanism is shown in one of its positions in Fig. 2, and its successive
positions are shown in Fig. 3; the trajectory of point C (the straight line AC) is shown
in Fig. 4.
 Fig. 2. One of the mechanism positions

Fig. 3. The successive positions of point C

Fig. 5. The trajectory of point C

 In Fig. 5 it is represented the variation of point C coordinates, in Fig. 6 it is
represented the variation of point C velocity components and in Fig. 7 it is
represented the variation of point C acceleration.
600.

400.

200.

0.0 X C [mm]
Y C [mm]

-200.

-400.

-600.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 5. The coordinates of point C

1000.

750.

500.

250. X C' [mm/s]

Y C' [mm/s/s]

0.0

-250.

-500.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 6. Components of point C velocity
 As the link BC tends to become parallel to the base (at the top or bottom), AC,
YC, YC 'and YC'' tend to infinity, so that YC is limited to a maximum of 500 mm, so
the diagrams have jumps for large values. It is possible to limit the range of motion
so that the values are convenient. In the areas where straight lines appear in the
chart, jumps were made in order to avoid the diagram frame exceeding.
1000.

500.

0.0 X C' ' [mm/s/s]

Y C' ' [mm/s/s]

-500.

-1000.
0.0 100. 200. 300. 400.
Fi [deg]

1000.

500.

0.0 X C' ' [mm/s/s]

Y C' ' [mm/s/s]

-500.

-1000.
0.0 100. 200. 300. 400.
Fi [deg]
Fig 7. XC’’, YC’’ variations
 The variations of S1, S2 (fig. 8), S1’, S2’ (fig. 9), S1’’, S2’’ (fig. 10) were
similarly determined.
750.

500.

250.

0.0 S1 [mm]
S2 [mm]

-250.

-500.

-750.
0.0 100. 200. 300. 400.
Fi [deg]

750.

500.

250.

0.0 S1 [mm]
S2 [mm]

-250.

-500.

-750.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 8. The strokes S1, S2
 4000.

2000.

0.0 S1' [mm/s]

S2' [mm/s]

-2000.

-4000.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 9. The velocities S1’, S2’

1000.

500.

0.0 S1' ' [mm/s/s]

S2' ' [mm/s/s]

-500.

-1000.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 10. The accelerations S1’’ and S2’’
 KINEMATICS OF R-PPR MECHANISM

This mechanism (Fig. 1) consists of the driving element BC in rotation and the
PPR dyad AC; a zero-length element connects the two sliders. It is similar to the
mechanism R-PRP described in the previous section, however, in the point C there
is not a revolute pair but a welding and the link AC is mobile.

Fig. 1 The mechanism R-PPR

The welding from point C requires the condition:      with  =constant.

The point E motion may be seen here; his path is anymore a line parallel to the
trajectory of point C as in the case of R-PRP mechanism seen in the previous
chapter. The necessary expressions for this case are exactly the same as for the R-
PRP mechanism, given in the previous chapter, with the mention that  is no longer
constant, and  ’ and  are not zero. But the welding from the point C requires the
relation      , which leads to the equalities  ’=  ’ and  ''=  ’’. In addition, there
will be used the expressions used for the link in planar motion.
Input data: XA= 80 mm,  =80,  =50, BE=40 mm,  ’=2 rad/s,  ’’=0.
In Fig. 2 it is shown the mechanism in a particular position, in Fig. 3 there are
shown the successive positions and Fig. 4 reveals the trajectory of point E.

Fig. 2. The mechanism simulation for  = 50

 Fig. 3. The successive positions

Fig. 4. The trajectory of point E (  = 50)

Further, there were also determined other trajectories for different values of angle  .

Fig. 5. The trajectory of point E (  = 0)

Fig. 6. The trajectory of point E (  = 90)

Fig. 7. The trajectory of point E (  = 120)

Fig. 8. The trajectory of point E (  = 180)

Fig. 9. The trajectory of point E (  = 220)

Fig. 10. The trajectory of point E (  = 270)

Fig. 11. The trajectory of point E (  = 330)

 The trajectories are similar but differently positioned relative to the xy
reference frame.
For point E there are given the coordinates in Fig. 12, the velocity components in
Fig. 13 and the acceleration components in Fig. 14.
150.

100.

50. X E [mm]
Y E [mm]

0.0

-50.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 12. The coordinates of point E

300.

200.

100.

0.0 X E' [mm/s]

Y E' ' [mm/s]

-100.

-200.

-300.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 13. The components of point E velocity
 750.

500.

250.

0.0 X E' ' [mm/s/s]

Y E' ' [mm/s/s]

-250.

-500.

-750.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 14. The components of point E acceleration

There were similarly obtained diagrams for S1 and S2 (Fig. 15), S1' and S2'
(Fig. 16) and for S1'' and S2 '' shown in Fig. 17.
100.

50.

0.0 S1 [mm]
S2 [mm]

-50.

-100.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 15. Variation of S1 and S2
 200.

100.

0.0 S1' [mm/s]

S2' [mm/s]

-100.

-200.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 16 Variation of S1’ and S2’

600.

400.

200.

0.0 S1' ' [mm/s/s]

S2' ' [mm/s/s]

-200.

-400.

-600.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 17 Variation of S1’’and S2’’
 KINEMATICS OF A MECHANISM WITH TRIAD

It is considered the mechanism with triad shown in Fig. 1 and the lengths of
the kinematic element 3 are set to zero in the form of a slider, having as result the
mechanism shown in Fig. 2 which will be studied.

Fig. 1 Mechanism with triad

Fig. 2 The analyzed mechanism

This time the mechanism has two independent loops: ABCG and GCD. The
number of independent loops N is given by the expression N = c - n, where c is the
number of the pairs, and n is the number of mobile parts. In the considered case n =
5, c = 7, resulting N = 2. Each loop, considered vector contour is projected on the
axis, the contour sides being considered as vectors and so the obtained position
equations are as follows:

𝑋𝐶 = 𝑋𝐵 + 𝐵𝐶𝑐𝑜𝑠 ∝= 𝑋∆ + 𝑆5 𝑐𝑜𝑠ψ = 𝑋𝐺 + 𝑆4 𝑐𝑜𝑠𝛾

𝑌𝐶 = 𝑌𝐵 + 𝐵𝐶𝑠𝑖𝑛 ∝= 𝑆5 𝑠𝑖𝑛ψ = 𝑌𝐺 + 𝑆4 𝑠𝑖𝑛𝛾
 (𝑌𝐺 + 𝑆4 𝑠𝑖𝑛𝛾 − 𝑌𝐵)2 + (𝑋𝐺 + 𝑆4 𝑐𝑜𝑠𝛾 − 𝑋𝐵)2 = 𝐵𝐶 2

From these equations it follows S4, S5,  and  .

𝑋𝐶 − 𝑋𝐵 𝑌𝐶 − 𝑌𝐵
𝑐𝑜𝑠 ∝= ; 𝑠𝑖𝑛 ∝=
𝐵𝐶 𝐵𝐶
𝑌𝐶 𝑌𝐶
𝑡𝑔ψ = ;𝑆 =
𝑋𝐶 − 𝑋𝐷 5 𝑠𝑖𝑛ψ

The expressions for positions are differentiated with respect to time in order to
calculate the velocities, taking into account that the points G and D are fixed.

𝑋𝐺 ′ = 0; 𝑌𝐺 ′ = 0; 𝑋𝐺 = 0; 𝑌𝐺 = 0;
𝛾 ′ = 0; 𝛾 = 0; 𝑋𝐷′ = 0; 𝑌𝐷′ = 0; 𝑋𝐷 = 0; 𝑌𝐷" = 0
𝑋𝐵 ′ − 𝐵𝐶𝑠𝑖𝑛 ∝∙∝′ = 𝑆4′ 𝑐𝑜𝑠𝛾 = 𝑋𝐶 ′
𝑌𝐵 ′ + 𝐵𝐶𝑐𝑜𝑠 ∝∙∝′ = 𝑆4′ 𝑠𝑖𝑛𝛾 = 𝑌𝐶 ′

𝑌𝐵 ′ + 𝐵𝐶𝑐𝑜𝑠 ∝∙∝′
𝑡𝑔𝛾 =
𝑋𝐵 ′ − 𝐵𝐶𝑠𝑖𝑛 ∝∙∝′

′
𝑌𝐵 − 𝑋𝐵 ′ 𝑡𝑔𝛾
∝=
−𝐵𝐶𝑠𝑖𝑛 ∝ 𝑡𝑔𝛾 − 𝐵𝐶𝑐𝑜𝑠 ∝

𝑋𝐵 ′ − 𝐵𝐶 ∙ 𝑠𝑖𝑛 ∝∙∝ ′
𝑆4′ =
𝑐𝑜𝑠𝛾

𝑆5′ cos -S5 sin 𝜑’=XC’

𝑆5′ sin +𝑆5′ cos’=YC’

𝑌𝐶 ′ − 𝑆5 cos ∙ ′
𝑡𝑔 =
𝑋𝐶 ′ + 𝑆5 sin ∙ ′

𝑌𝐶′ − 𝑋𝐶′𝑡𝑔
𝜑′ =
𝑆5 sin ∙ 𝑡𝑔 + 𝑆5 cos

𝑋𝐶′ + 𝑆5 𝑠𝑖𝑛 ∙ ′
𝑆5′ =
cos

The velocities expressions are differentiated with respect to time in

order to compute the accelerations.

2
XC′′ = 𝑋𝐵′′ − 𝐵𝐶 cos 𝛼 ∙ 𝛼 ′ − 𝐵𝐶 𝑠𝑖𝑛 𝛼 ∙ 𝛼′′ = 𝑆4 " cos 𝛾
2
YC′′ = 𝑋𝐵′′ − 𝐵𝐶 𝑠𝑖𝑛 α ∙ 𝛼 ′ + 𝐵𝐶 𝑐𝑜𝑠 𝛼 ∙ 𝛼′′ = 𝑆4 " sin 𝛾
 YB ′′ − BC sinα ∙ α′2 + BC cos α ∙ α"
𝑡𝑔𝛾 =
XB" − BCcosα ∙ α′2 − BCsin α ∙ α"

𝑌𝐵 ′′ −𝐵𝐶 𝑠𝑖𝑛𝛼∙𝛼 ′2 −𝑡𝑔𝛾(𝑋𝐵"−𝐵𝐶𝑐𝑜𝑠 𝛼∙𝛼 ′2 )

𝛼′′ =
−𝐵𝐶∙𝑠𝑖𝑛𝛼∙𝑡𝑔 𝛾−𝐵𝐶∙𝑐𝑜𝑠 𝛼
XC"
𝑆4 " =
cos γ

2
XC′′ = 𝑆5" 𝑐𝑜𝑠𝜑 − 2𝑆5′ sin  ∙ ′ − 𝑆5 𝑐𝑜𝑠 ∙ ′ − 𝑆5 sin  ∙ ′′
2 2
YC′′ = 𝑆5" 𝑠𝑖𝑛 + 2𝑆5′ cos  ∙ ′ − 𝑆5 𝑠𝑖𝑛 ∙ ′ + 𝑆5 𝑐𝑜𝑠 ∙ ′
2 2
YC” −2𝑆5′ BC cos∙′+𝑆5 𝑠𝑖𝑛∙′ −𝑆5 𝑐𝑜𝑠∙′
𝑡𝑔 =
XC"+2𝑆5′ sin∙′+𝑆5 sin∙′′+𝑆5 cos∙′2

b1=YC’’-2S’5 cos   ′+S5 sin  ∙ ′

b2=YC’’+2S’5 sin   ′+S5 cos  ∙ ′2

𝑏1 −𝑏2 tg 
" = 𝑆 sin ∙tg−𝑆5 sin 
5

𝑏2 +𝑆5 sin ∙"

𝑆5" =
sin 

Input data: AB=34:BC=40:XD=76:XG=32:YG=14:BE=23:CF=20 mm: 

=50:  =32:  =90;  ’=2 rad/s:  ’’=0.
In Fig. 3 it is shown the mechanism for the position given by  = 68, in Fig. 4
the successive positions of the mechanism, in Fig. 5 - the trajectory of the point C, in
Fig. 6 - the trajectory of the point E, and in Fig. 7 the trajectory of the point F.

Fig. 3 The mechanism in one position

Fig. 4. The mechanism successive positions

Fig. 5. The trajectory of point C

Fig. 6. The trajectory of point E

Fig. 7. The trajectory of point F

 It is noted that the trajectory of point C is the straight line GC and the
trajectory of point F is a simple curve, while the curve of point E is more complex.
The following pictures show the trajectories of points E and F, for different values of
the angle  ; it may be noticed that the trajectory of the point F is the easiest.

Fig. 8. The trajectories of point E and point F (  =50)

Fig. 9. The trajectories of point E and point F (  =0)

Fig. 10. The trajectories of point E and point F (  =90)

Fig. 11. The trajectories of point E and point F (  =120)

Fig. 12. The trajectories of point E and point F (  =180)

Fig. 13. The trajectories of point E and point F (  =220)

Fig. 14. The trajectories of point E and point F (  =270)

 Fig. 15. The trajectories of point E and point F (  =330)

The following pictures give us the coordinates of point C (Fig. 16), the
components of point C velocity (Fig. 17), the components of point C acceleration
(Fig. 18).

60.

40.

20.
X C [mm]
Y C [mm]
0.0

-20.

-40.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 16. The coordinates of point C
1000.

500.

0.0
X C' [mm/s]
Y C' [mm/s]
-500.

-1000.

-1500.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 17. The components of point C velocity

200.

0.0

-200. X C' ' [mm/s/s]

Y C' ' [mm/s/s]

-400.

-600.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 18. The components of point C acceleration
 It is noted that the mechanism doesn’t allow to the link AB to make a full
rotation (due to the links length), so that in the mechanism operation a break
appears visible in charts by straight lines (the software connects through a line the
value before the break with the value after the break) .
Fig. 19 reveals the variation of  and the variation of  ’, and in Fig. 20 it is
shown the variation of  ’’.

20.

0.0

-20.
PSI [deg]
PSI' [rad/s]
-40.

-60.

-80.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 19. The variation of  and  ’
750.

500.

250.
P S I ' ' [ rad /s/s]

0.0

-250.

-500.

-750.
0.0 100. 200. 300. 400.
Fi [deg]

Fig. 20. The variation of  ’’

 Similarly there are given the curves for XE, YE (Fig. 21), XE’, YE’ (Fig. 22)
and XE’’, YE’’ (Fig. 23).
60.

40.

20. X E [mm]
Y E [mm]

0.0

-20.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 21. The curves XE, YE

150.

100.

50.

0.0 X E' [mm/s]

Y E' [mm/s]

-50.

-100.

-150.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 22. The curves XE’, YE’
 250.

0.0

-250.

-500. X E' ' [mm/s/s]

Y E' ' [mm/s/s]

-750.

-1000.

-1250.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 23. The curves XE’’, YE’’
 POSITIONS AND TRAJECTORIES FOR A MECHANISM WITH TWO
DYADS

It is considered the mechanism shown by Fig. 1 consisting of the driving

element AB, the RRR dyad BCD and the RRP dyad EF, having the zero length slider
F, so the mechanism is of R-RRR-RRP type. From the analysis of the first dyad it is
obtained the motion of the point E, which is input for the second dyad computation.
In the previous chapters there were analyzed all the kinematic dyads versions, which
means that there are tied the programs for the already studied dyads for
mechanisms with two dyads, matching notations. To stop writing long expressions
for speeds and accelerations computation, written above for the 5 dyads, there are
expressed below only the positions without speeds and accelerations.

Fig.1 Mechanism with two dyads

Already knowing the position of point E, there are written the expressions only
for the second dyad as follows:
𝑋𝐹 = 𝑋𝐸 + 𝐸𝐹𝑐𝑜𝑠𝛾 = 0
𝑌𝐹 = 𝑌𝐸 + 𝐸𝐹𝑠𝑖𝑛𝛾 = 𝑆
𝑋𝐺 = 𝑋𝐸 + 𝐸𝐺𝑐𝑜𝑠(𝛾 − 𝜀)
𝑌𝐺 = 𝑌𝐸 + 𝐸𝐺𝑠𝑖𝑛(𝛾 − 𝜀)

The first expression is used for angle  computation and the second one is
used for the stroke S computation. The following two expressions establish the
position of point G.
Input data: AB = 38: 45 BC = CD = 40: XD = 55 = 25: BE = 55 = 45: EG = 45:
EF = 100.
In Fig. 2 it is shown the mechanism for  = 25, and Fig. 3 shows the
successive positions of the mechanism.
 Fig. 2 The mechanism position for  = 25

Fig. 3 Successive positions of mechanism

In Fig. 4 there are given the trajectory of point E (the left one) and the
trajectory of point G motion. They are similar.
 Fig. 4. The trajectories of points E and G

The following figures give us the trajectories of point G for some values of
angle  .

Fig. 5.  = 0

Fig. 6.  = 90
Fig. 7.  = 120

Fig. 8.  = 180

Fig. 9.  = 220

Fig. 10.  = 270

 Fig. 11.  = 330

The curves for the coordinates of the points E and F are given in Fig. 12.

150.

100.

XE [mm]
50. YE [mm]
XF [mm]
YF [mm]

0.0

-50.
0.0 100. 200. 300. 400.
Fi [deg]
Fig. 12. The coordinates of points E and F

It is noted that the mechanism has the complete cycle, without pauses, and
the curves are similar. The stroke S has the same variation law as YF variation law
presented in Fig. 12.